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This paper examines the stability of the exible-object impedance c ontroller when coupled to an arbitrary passive environment. A simple representative system is developed to study the problem based on phenomena observed in a more c omplex, experimental system. Analysis of this representative system leads to several conclusions regarding factors that limit… (More)

This paper presents a control strategy for manipulation of exible objects by multiple robot arms. The control policy developed in this paper for exible objects is based o n a c ontroller developed p r eviously for rigid objects: the object impedance controller. The controller compensates for the dynamics of both the arms and the object and responds to… (More)